自律移動車輪形ロボットの軌道追従制御に関する研究 : 2DW1C方式自走車の直線軌道追従時のソフトウェアサーボにおけるフィードバックゲインと系の安定性ならびに位置決め特性について

概要

論文の詳細を見る
The present research is about designing straight path control for a 2DW1C-Type tri-car mobile robot. At the beginning of a position feedback control system is designed with the actual position surveyed by external sensor. The purpose of this paper is to clarify the relationship of each feedback gain corresponding to each position error to the system's stability and positioning characteristics. As a result of step resonance and running simulation on real road conditions, the analysis confirms the system's stability. Results of this research can be adapted any optional path by dotting desired path.
社団法人日本機械学会の論文
1992-06-25